[ros-users] Motion planning using carrot planner

[Eitan Marder-Eppstein]

Hello,

Could you please re-post this question on answers.ros.org? Its a more
accessible/easily searchable medium than this mailing list and others will
more easily benefit from the answer to your question.

Hope all is well,

Eitan

On Thu, Jun 9, 2011 at 12:25 AM, GANESH KUMAR <pkganeshpk at gmail.com> wrote:

> Hello,
>
> I'm unable to get simple carrot planner code , for motion planning, up
> and running.
> The problem I'm trying to write code for is: to use carrot planner to
> move the  erratic gazebo robot from a start point to end point.
> Here are the problems I am facing:
> (1) I doubt if my design is correct, or if there's a simpler way to
> solve the above problem. Currently, I start erratic_wg.launch within
> simulator_gazebo. Next, I have a tf::listener instance running in a
> separate program, excerpts from which are given below. The listener
> uses the carrot planner while transforming from base_link to map:
> ===
> void transformPoint(const tf::TransformListener& listener)
> {
>          geometry_msgs::PointStamped laser_point;
>          laser_point.header.frame_id = "base_link";
>               ...
>             tf::TransformListener mytf(ros::Duration(10));
>
>          costmap_2d::Costmap2DROS costmap("my_costmap", mytf);
>          carrot_planner::CarrotPlanner cp  ;
>          cp.initialize("my_carrot_planner", &costmap);
>          try
>          {
>                  geometry_msgs::PointStamped base_point;
>                  listener.transformPoint("map", laser_point, base_point);
>
>                  geometry_msgs::PoseStamped start  ;
>                 start.pose.position.x = 0 , start.pose.position.y = 0,
> start.pose.position.z = 0;
>                 geometry_msgs::PoseStamped end;
>                 end.pose.position.x = 5 , end.pose.position.y = 5,
> end.pose.position.z = 0;
>
>                 std::vector<geometry_msgs::PoseStamped> plan;
>                 cp.makePlan(start, end, plan);
>                 // SHould I send a cmd_vel message now for each step
> of the plan?
>         }
> }
> ===
>
> (2) When my costmap is initialized as above, the listener code
> segfaults. I have traced this to the constructor of Costmap2DPublisher
> called within Costmap2DROS constructor, but haven't gone deeper than
> this.  I am using ros version  1.2.4 and the older version of the
> navigation stack (i.e. which contained nav_view). I am not sure how to
> specify the navigation stack version more precisely (i.e. repo
> revision, etc.). Also, the latest navigation stack doesn't build , as
> pcl_ros doesn't compile on my ros. So I stuck with a previous version
> I had downloaded around Nov. 2010. I can provide further details if
> necessary.
>
> Thanks
> PKG
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